tf2 cpp broadcaster
Table of Content
code from : https://docs.ros.org/en/humble/Tutorials/Intermediate/Tf2/Writing-A-Tf2-Broadcaster-Cpp.html
```bash terminal1
turtlesim#
ros2 run turtlesim turtlesim_node
```bash terminal2
# turtlesim teleop
ros2 run turtlesim turtle_teleop_key
```bash terminal3
our node translate turtle pose to tf message#
ros2 run learning_tf2 tf2_broadcaster
```bash terminal4
# tf echo tool
ros2 run tf2_ros tf2_echo world turtle
```bash terminal5
tf tree using rqt#
ros2 run rqt_tf_tree rqt_tf_tree –force-discover
```bash terminal6
# rviz
ros2 run rviz2 rviz2
